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<div class="title">approx_nearest_pair_point_cloud_coherence.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_IMPL_APPROX_NEAREST_PAIR_POINT_CLOUD_COHERENCE_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/search/octree.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/approx_nearest_pair_point_cloud_coherence.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a00c2e35253ae11b800dd8d3a67247f3d">   12</a></span>&#160;    <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a00c2e35253ae11b800dd8d3a67247f3d">ApproxNearestPairPointCloudCoherence&lt;PointInT&gt;::computeCoherence</a> (</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;        <span class="keyword">const</span> PointCloudInConstPtr &amp;cloud, <span class="keyword">const</span> IndicesConstPtr &amp;, <span class="keywordtype">float</span> &amp;w)</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    {</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;      <span class="keywordtype">double</span> val = 0.0;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;      <span class="comment">//for (size_t i = 0; i &lt; indices-&gt;size (); i++)</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;points.size (); i++)</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        <span class="keywordtype">int</span> k_index = 0;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keywordtype">float</span> k_distance = 0.0;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        <span class="comment">//PointInT input_point = cloud-&gt;points[(*indices)[i]];</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        PointInT input_point = cloud-&gt;points[i];</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        search_-&gt;approxNearestSearch(input_point, k_index, k_distance);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        <span class="keywordflow">if</span> (k_distance &lt; maximum_distance_ * maximum_distance_)</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;          PointInT target_point = target_input_-&gt;points[k_index];</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;          <span class="keywordtype">double</span> coherence_val = 1.0;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; point_coherences_.size (); i++)</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;          {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;            PointCoherencePtr coherence = point_coherences_[i];  </div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;            <span class="keywordtype">double</span> w = coherence-&gt;compute (input_point, target_point);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;            coherence_val *= w;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          }</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          val += coherence_val;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        }</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      }</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      w = - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (val);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    }</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5534e4bb731698acf41bbd76e02b9c62">   41</a></span>&#160;    <a class="code" href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5534e4bb731698acf41bbd76e02b9c62">ApproxNearestPairPointCloudCoherence&lt;PointInT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence&lt;PointInT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      {</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] PointCloudCoherence::Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="comment">//deinitCompute ();</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      <span class="comment">// initialize tree</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keywordflow">if</span> (!search_)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        search_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree&lt;PointInT&gt;</a> (0.01));</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keywordflow">if</span> (new_target_ &amp;&amp; target_input_)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        search_-&gt;setInputCloud (target_input_);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        new_target_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      }</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ApproxNearestPairPointCloudCoherence(T) template class PCL_EXPORTS pcl::tracking::ApproxNearestPairPointCloudCoherence&lt;T&gt;;</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a></div><div class="ttdoc">search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...</div><div class="ttdef"><b>Definition:</b> octree.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a00c2e35253ae11b800dd8d3a67247f3d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a00c2e35253ae11b800dd8d3a67247f3d">pcl::tracking::ApproxNearestPairPointCloudCoherence::computeCoherence</a></div><div class="ttdeci">virtual void computeCoherence(const PointCloudInConstPtr &amp;cloud, const IndicesConstPtr &amp;indices, float &amp;w_j)</div><div class="ttdoc">compute the nearest pairs and compute coherence using point_coherences_</div><div class="ttdef"><b>Definition:</b> approx_nearest_pair_point_cloud_coherence.hpp:12</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence_html_a5534e4bb731698acf41bbd76e02b9c62"><div class="ttname"><a href="classpcl_1_1tracking_1_1_approx_nearest_pair_point_cloud_coherence.html#a5534e4bb731698acf41bbd76e02b9c62">pcl::tracking::ApproxNearestPairPointCloudCoherence::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> approx_nearest_pair_point_cloud_coherence.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">pcl::tracking::PointCloudCoherence</a></div><div class="ttdoc">PointCloudCoherence is a base class to compute coherence between the two PointClouds.</div><div class="ttdef"><b>Definition:</b> coherence.h:61</div></div>
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